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This commit is contained in:
rusEfi 2014-11-06 20:05:30 -06:00
parent 1b0539e13b
commit 486fa92451
9 changed files with 139 additions and 55 deletions
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30
firmware/controllers/algo/wave_chart.cpp
View File

@ -72,7 +72,7 @@ void WaveChart::resetWaveChart() {
#endif /* DEBUG_WAVE */
resetLogging(&logging);
counter = 0;
startTimeUs = 0;
startTimeNt = 0;
appendPrintf(&logging, "wave_chart%s", DELIMETER);
}
@ -86,8 +86,8 @@ int WaveChart::isWaveChartFull() {
* digitalChartSize/20 is the longest meaningful chart.
*
*/
uint64_t chartDurationInSeconds = (getTimeNowUs() - startTimeUs) / 1000000;
bool startedTooLongAgo = startTimeUs!= 0 && chartDurationInSeconds > engineConfiguration->digitalChartSize / 20;
uint64_t chartDurationNt = getTimeNowNt() - startTimeNt;
bool startedTooLongAgo = startTimeNt!= 0 && NT2US(chartDurationNt) > engineConfiguration->digitalChartSize * 1000000 / 20;
return startedTooLongAgo || counter >= engineConfiguration->digitalChartSize;
}
@ -158,19 +158,24 @@ void WaveChart::addWaveChartEvent3(const char *name, const char * msg, const cha
#endif
uint64_t nowUs = getTimeNowUs();
/**
* todo: migrate to binary fractions in order to eliminate
* this division? I do not like division
*/
uint64_t time100 = nowUs / 10;
bool alreadyLocked = lockOutputBuffer(); // we have multiple threads writing to the same output buffer
if (counter == 0) {
startTime100 = time100;
startTimeUs = nowUs;
startTimeNt = US2NT(nowUs);
}
counter++;
/**
* We want smaller times within a chart in order to reduce packet size.
*/
/**
* todo: migrate to binary fractions in order to eliminate
* this division? I do not like division
*/
uint64_t time100 = (nowUs - NT2US(startTimeNt)) / 10;
if (remainingSize(&logging) > 30) {
/**
* printf is a heavy method, append is used here as a performance optimization
@ -179,10 +184,7 @@ void WaveChart::addWaveChartEvent3(const char *name, const char * msg, const cha
appendFast(&logging, CHART_DELIMETER);
appendFast(&logging, msg);
appendFast(&logging, CHART_DELIMETER);
/**
* We want smaller times within a chart in order to reduce packet size.
*/
time100 -= startTime100;
// time100 -= startTime100;
itoa10(timeBuffer, time100);
appendFast(&logging, timeBuffer);

3
firmware/controllers/algo/wave_chart.h
View File

@ -31,8 +31,7 @@ private:
Logging logging;
#endif /* EFI_WAVE_CHART */
uint32_t counter;
uint64_t startTime100;
uint64_t startTimeUs;
uint64_t startTimeNt;
volatile int isInitialized;
};

1
firmware/controllers/math/efitime.h
View File

@ -26,6 +26,7 @@ extern "C"
#endif /* __cplusplus */
#define US_PER_SECOND 1000000
#define US_PER_SECOND_LL 1000000LL
#define MS2US(MS_TIME) ((MS_TIME) * 1000)

4
firmware/controllers/trigger/rpm_calculator.cpp
View File

@ -63,7 +63,7 @@ RpmCalculator::RpmCalculator() {
rpmValue = 0;
// we need this initial to have not_running at first invocation
lastRpmEventTimeNt = (uint64_t) -10 * US2NT(US_PER_SECOND);
lastRpmEventTimeNt = (uint64_t) -10 * US2NT(US_PER_SECOND_LL);
revolutionCounterSinceStart = 0;
revolutionCounterSinceBoot = 0;
}
@ -155,7 +155,7 @@ void rpmShaftPositionCallback(trigger_event_e ckpSignalType, uint32_t index, Rpm
rpmState->rpmValue = NOISY_RPM;
} else {
// todo: interesting what is this *2 about? four stroke magic constant?
int rpm = (int) (60 * US2NT(US_PER_SECOND) * 2 / diffNt);
int rpm = (int) (60 * US2NT(US_PER_SECOND_LL) * 2 / diffNt);
rpmState->rpmValue = rpm > UNREALISTIC_RPM ? NOISY_RPM : rpm;
}
}

6
firmware/controllers/trigger/trigger_central.cpp
View File

@ -61,7 +61,7 @@ void addTriggerEventListener(ShaftPositionListener listener, const char *name, v
extern Engine engine;
void hwHandleShaftSignal(trigger_event_e signal) {
triggerCentral.handleShaftSignal(&engine, signal, getTimeNowUs());
triggerCentral.handleShaftSignal(&engine, signal);
}
#endif /* EFI_PROD_CODE */
@ -96,9 +96,11 @@ static void reportEventToWaveChart(trigger_event_e ckpSignalType, int index) {
// todo: improve this
extern Engine engine;
void TriggerCentral::handleShaftSignal(Engine *engine, trigger_event_e signal, uint64_t nowUs) {
void TriggerCentral::handleShaftSignal(Engine *engine, trigger_event_e signal) {
efiAssertVoid(engine!=NULL, "configuration");
uint64_t nowUs = getTimeNowUs();
efiAssertVoid(engine->engineConfiguration!=NULL, "engineConfiguration");
efiAssertVoid(engine->engineConfiguration2!=NULL, "engineConfiguration2");

2
firmware/controllers/trigger/trigger_central.h
View File

@ -24,7 +24,7 @@ class TriggerCentral {
public:
TriggerCentral();
void addEventListener(ShaftPositionListener handler, const char *name, void *arg);
void handleShaftSignal(Engine *engine, trigger_event_e signal, uint64_t nowUs);
void handleShaftSignal(Engine *engine, trigger_event_e signal);
int getHwEventCounter(int index);
TriggerState triggerState;
private:

118
firmware/hw_layer/stm32f4/mpu_util.cpp
View File

@ -11,6 +11,7 @@
extern "C" {
int getRemainingStack(Thread *otp);
void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress);
}
extern stkalign_t __main_stack_base__;
@ -19,7 +20,7 @@ extern stkalign_t __main_stack_base__;
// GCC version
int getRemainingStack(Thread *otp) {
#if CH_DBG_ENABLE_STACK_CHECK
register struct intctx *r13 asm ("r13");
otp->activeStack = r13;
@ -41,19 +42,18 @@ int getRemainingStack(Thread *otp) {
#else /* __GNUC__ */
int getRemainingStack(Thread *otp) {
#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
int remainingStack;
if (dbg_isr_cnt > 0) {
remainingStack = 999; // todo
} else {
remainingStack = (stkalign_t *)(__get_SP() - sizeof(struct intctx)) - otp->p_stklimit;
}
otp->remainingStack = remainingStack;
return remainingStack;
int remainingStack;
if (dbg_isr_cnt > 0) {
remainingStack = 999; // todo
} else {
remainingStack = (stkalign_t *)(__get_SP() - sizeof(struct intctx)) - otp->p_stklimit;
}
otp->remainingStack = remainingStack;
return remainingStack;
#else
return 999999;
return 999999;
#endif
}
@ -61,10 +61,6 @@ int getRemainingStack(Thread *otp) {
#endif
void baseHardwareInit(void) {
// looks like this holds a random value on start? Let's set a nice clean zero
DWT_CYCCNT = 0;
@ -91,16 +87,100 @@ void BusFaultVector(void) {
chDbgPanic3("BusFaultVector", __FILE__, __LINE__);
while (TRUE) {
}
}
}
/**
+ * @brief Register values for postmortem debugging.
+ */
volatile uint32_t postmortem_r0;
volatile uint32_t postmortem_r1;
volatile uint32_t postmortem_r2;
volatile uint32_t postmortem_r3;
volatile uint32_t postmortem_r12;
volatile uint32_t postmortem_lr; /* Link register. */
volatile uint32_t postmortem_pc; /* Program counter. */
volatile uint32_t postmortem_psr;/* Program status register. */
volatile uint32_t postmortem_CFSR;
volatile uint32_t postmortem_HFSR;
volatile uint32_t postmortem_DFSR;
volatile uint32_t postmortem_AFSR;
volatile uint32_t postmortem_BFAR;
volatile uint32_t postmortem_MMAR;
volatile uint32_t postmortem_SCB_SHCSR;
/**
* @brief Evaluates to TRUE if system runs under debugger control.
* @note This bit resets only by power reset.
*/
#define is_under_debugger() (((CoreDebug)->DHCSR) & \
CoreDebug_DHCSR_C_DEBUGEN_Msk)
/**
*
*/
void prvGetRegistersFromStack(uint32_t *pulFaultStackAddress) {
postmortem_r0 = pulFaultStackAddress[0];
postmortem_r1 = pulFaultStackAddress[1];
postmortem_r2 = pulFaultStackAddress[2];
postmortem_r3 = pulFaultStackAddress[3];
postmortem_r12 = pulFaultStackAddress[4];
postmortem_lr = pulFaultStackAddress[5];
postmortem_pc = pulFaultStackAddress[6];
postmortem_psr = pulFaultStackAddress[7];
/* Configurable Fault Status Register. Consists of MMSR, BFSR and UFSR */
postmortem_CFSR = (*((volatile uint32_t *) (0xE000ED28)));
/* Hard Fault Status Register */
postmortem_HFSR = (*((volatile uint32_t *) (0xE000ED2C)));
/* Debug Fault Status Register */
postmortem_DFSR = (*((volatile uint32_t *) (0xE000ED30)));
/* Auxiliary Fault Status Register */
postmortem_AFSR = (*((volatile uint32_t *) (0xE000ED3C)));
/* Read the Fault Address Registers. These may not contain valid values.
Check BFARVALID/MMARVALID to see if they are valid values
MemManage Fault Address Register */
postmortem_MMAR = (*((volatile uint32_t *) (0xE000ED34)));
/* Bus Fault Address Register */
postmortem_BFAR = (*((volatile uint32_t *) (0xE000ED38)));
postmortem_SCB_SHCSR = SCB->SHCSR;
if (is_under_debugger()) {
__asm("BKPT #0\n");
// Break into the debugger
}
/* harmless infinite loop */
while (1) {
;
}
}
void HardFaultVector(void) {
#if 0 && defined __GNUC__
__asm volatile (
" tst lr, #4 \n"
" ite eq \n"
" mrseq r0, msp \n"
" mrsne r0, psp \n"
" ldr r1, [r0, #24] \n"
" ldr r2, handler2_address_const \n"
" bx r2 \n"
" handler2_address_const: .word prvGetRegistersFromStack \n"
);
#else
#endif
chDbgPanic3("HardFaultVector", __FILE__, __LINE__);
while (TRUE) {
}
}

4
unit_tests/engine_test_helper.cpp
View File

@ -33,9 +33,9 @@ EngineTestHelper::EngineTestHelper(engine_type_e engineType) {
void EngineTestHelper::fireTriggerEvents() {
for (int i = 0; i < 24; i++) {
timeNow += 5000; // 5ms
triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_UP, timeNow);
triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_UP);
timeNow += 5000;
triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_DOWN, timeNow);
triggerCentral.handleShaftSignal(&engine, SHAFT_PRIMARY_DOWN);
}
}

26
unit_tests/test_trigger_decoder.cpp
View File

@ -422,7 +422,7 @@ static void testRpmCalculator(void) {
prepareTimingMap();
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
assertEqualsM("index #2", 0, eth.triggerCentral.triggerState.getCurrentIndex());
assertEqualsM("queue size", 4, schedulingQueue.size());
assertEqualsM("ev 1", 248000, schedulingQueue.getForUnitText(0)->momentUs);
@ -430,11 +430,11 @@ static void testRpmCalculator(void) {
schedulingQueue.clear();
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
assertEqualsM("index #3", 3, eth.triggerCentral.triggerState.getCurrentIndex());
assertEqualsM("queue size 3", 6, schedulingQueue.size());
assertEquals(258333, schedulingQueue.getForUnitText(0)->momentUs);
@ -444,24 +444,24 @@ static void testRpmCalculator(void) {
schedulingQueue.clear();
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
assertEqualsM("index #4", 6, eth.triggerCentral.triggerState.getCurrentIndex());
assertEqualsM("queue size 4", 6, schedulingQueue.size());
assertEqualsM("4/0", 271666, schedulingQueue.getForUnitText(0)->momentUs);
schedulingQueue.clear();
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
assertEqualsM("queue size 5", 1, schedulingQueue.size());
assertEqualsM("5/1", 284500, schedulingQueue.getForUnitText(0)->momentUs);
schedulingQueue.clear();
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
assertEqualsM("queue size 6", 5, schedulingQueue.size());
assertEqualsM("6/0", 285000, schedulingQueue.getForUnitText(0)->momentUs);
assertEqualsM("6/1", 288000, schedulingQueue.getForUnitText(1)->momentUs);
@ -469,12 +469,12 @@ static void testRpmCalculator(void) {
schedulingQueue.clear();
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
assertEqualsM("queue size 7", 0, schedulingQueue.size());
schedulingQueue.clear();
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
assertEqualsM("queue size 8", 6, schedulingQueue.size());
assertEqualsM("8/0", 298333, schedulingQueue.getForUnitText(0)->momentUs);
assertEqualsM("8/1", 297833, schedulingQueue.getForUnitText(1)->momentUs);
@ -483,12 +483,12 @@ static void testRpmCalculator(void) {
schedulingQueue.clear();
timeNow += 5000;
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_DOWN);
assertEqualsM("queue size 9", 0, schedulingQueue.size());
schedulingQueue.clear();
timeNow += 5000; // 5ms
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP, timeNow);
eth.triggerCentral.handleShaftSignal(&eth.engine, SHAFT_PRIMARY_UP);
assertEqualsM("queue size 10", 0, schedulingQueue.size());
schedulingQueue.clear();
}